involves actions beyond navigation.
Models have evolved from individual rule-based or learned components for language understanding, perception and action execution [1]}, [2]}, to end-to-end models in fully observable blocks worlds [3]}, [4]}.
More complex tasks involve partially observable worlds [5]} and object state changes [4]}, [7]}, [8]}.
Some works use a planner to generate ideal demonstrations that are then labeled, while others first gather instructions and gather human demonstrations [4]}, [10]}, [11]}.
In TEACh, human instructions and demonstrations are gathered simultaneously.
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